Electrical controlling apparatus



March 3, 1931. G, w BAUGHMAN 1,794,508

ELECTRICAL CONTROLLING APPARATUS I Original Filed Jan. 29, 1925 Aime/20a Z0 S/zafif of Sill '03 Buckie]? 'Ampll'Fying 55 0:. a K46 9 Wpparazus.

Patented Mar. 3, 1931 UliED STATES PATENT OFFICE ELECTRICAL CONTlKOLLING- APPARATUS Continuation of application Serial No. 5,641, filed lanuary 29, 1925.. This application filed February 14, 1929. Serial No. 339,885.

My inventiourrelates to electrical controlling apparatus.

Apparatus embodying my invention is particularly adapted for, though in no way limited to the control of apparatus for keeping a movable body on a predetermined course.

The present case is a continuation of m co-pending application Serial No. 5,61, filed to January 29, 19:25, for Electrical controlling apparatus, in so far as the subject matter common to the two cases is concerned.

I will describe one form of apparatus embodying my invention, and one modification thereof, and will then point out the novel features thereoi in claims.

In the accompanying drawing, Fig. 1 is a view, partly diagrammatic, showing one form of controlling apparatus embodying my invention as applied to the control of the steering mechanism of a ship. Fig. 2 is a view showing one modification of a portion of the controlling apparatus shown in Fig. 1.

Similar reference characters refer to sim- I ilar parts in both views.

Referring first to Fig. 1, the controlling apparatus includes a controlling device A and an earth inductor G. The controlling device .3. comprises a cylindrical field structure 1,

236 of inagnetizable material provided with two inwardly projecting poles 2 and 3. These poles 2 and 3 are provided with windings 2 and 3 respectively, which windings are con" nected in series and supplied with direct current from some suitable source such as a battery 7. The parts are so arranged that there is created between the poles 2 and 3, a unidirectional magnetic flux or field. For purposes of explanation I will assume that pole 4 Q is a south pole. The structure 1 is rotatable and is provided with a pointer 1 cooperating with a relatively fixed scale 4 carrying indicia 6 whereby the position of the structure 1 may be accurately observed. By rotating structure 1, then, the field between poles 2 and 3 may be adjusted to any angular position with respect to the scale 4.

An armature indicated dia rammatically by the reference character is interposed between poles 2 and 3 and is therefore traversed rent from the alternator G.

by the flux created by windings 2 and 3. This armature 5 is rotated by a motor 19 supplied with energy from some suitable source such as a battery. 22. The alternating electromotive force thus created in armature 5 is applied to one winding 10 of a relay B. The other winding 11 is supplied with our- The magnetic field of the alternator G has a fixed direction in space. In the form here shown the alternator G is an earth inductor, that is, it comprises an armature 8 rotatable in the earths field. The armature 8 is mechanically, connected with armature 5 of alternator A and rotates in synchronism therewith. As shown in the drawing, amplifying apparatus 9 of some suitable form is interposed between the armature 8 and winding 11 of relay-B.

The armatures 5 and 8 are preferably, though not necessarily, connected mechanically in such angular relation that when the field produced by windings 2 and 3* is parallel to the earths magnetic field the currents induced in the armatures are in phase.

Rotor 12 of relay B controls a movable contact 2% arranged to occupy an'mtermedlate posltion, a right-hand position, or a lefi-hand position depending upon the phase relation of the currents in windings 10 and ll.

i e iiequency an p ass 0.2!. no etrien supplied by alternator G are, of course, un-

varying so long as the speed of rotation of armature 8 remains constant. But since armatures 5 and 8 rotate in synclironism, it will be plain. that the apparatus be used as a. compass. For example, the scale t may be fined on a ship. it, now, the field between poles 2 and 3 of member 1 be parallel with the earth s field, the currents in windin s 10 and 11 of relay B will be in phase an the contact 24 controlled by rotor 12 of the relay will occupy an intermediate position. If, however, the field of structure 1 isdisplaced angularly with respect to the earths field the current in winding 10 will lead or lag the current in winding 11, depending upon the direction of such displacement. When the current in winding 10 leads the current in winding 11, contact 2% is swung into its righthand position, and when the current in windalternators'A and G are parallel, if structure A be rotated till the relay contact does assume such intermediate position, pointer 1" will then indicate the direction of the earths field.

Controlling apparatus embodying my invention is particularly suited for automatipally controlling the course of a movable body such as a shi aeroplane, etc. As shown in the drawing t e apparatus is applied to a ship and controls the ships rudder (not shown) through the medium of a gear 18 operatively connected with such rudder. This gear 18 is operatively connected with rotor 17 of reversiole driving means here shown as a two-phase induction motor C, having one winding 15 constantly supplied with alternating current from one armature 21 of a two-phase generator D. Current of one polarity or the other is at times supplied from the remaining winding 20 of the generator D to the other winding 16 of motor (3 through a transformer "li having its secondar 25 connected directly with winding 16. e supply of current to primary 26 of transformer T is controlled in part by relay l5, and in part by a circuit controller designated by the reference character X, and operated in accordance with the position or" the rudder.

The circuit controller X comprises three movable contact arms 27, 30 and 32 all operatively connected with the gear 18 and each co-operating with one or more fixed contacts. When the rudder occupies its middle position, contact 32-.33 of circuit controller X is closed, but all the remaining contacts of the circuit controller are open. If the rudder is moved in one direction however, contacts 27-28 and 30-31 close, and if this movement exceeds a predetermined amount, contact 3233 opens and contact 2729 closes. a In similar-manner a small movement or the rudder in the opposite direction away from its middle position closes contacts 30--- elling in the direction indicated loy the ointer 1, so that the earths magnetic field is in a direction parallel with the field produced by windings 2 and 3. The currents in windings ll) and 1.1 of relay B are theremesses fore in phase, and contact 24 occupies its intermediate position. The ships rudder also occupies its middle position, so no current is being supplied. to winding 18 of motor G, and the motor is at rest. All circuits for relay K are open, and'this relay is therefore die-energized. I will now assume that it is desired to change the course of the ship ten degrees to the right. Field structure 1 is rotated. ten degrees to the left. Assuming, further, that armatnres 8 and 5 are rotating in a counterclockwise direction, this movement of the field structure causes the current in winding 10 of relay B to lag the current in winding 11, and this phase displacement causes contact 24; of relay B to move to the left. Current then flows from one terminal of winding 20 of generator 1D, through wires 34: and 35, left-hand portion of primary 26 of transformer T, wires 36 and 37, contact 24: of relay B, wire 38, contact 3233 of circuit controller X, wire 39, back contact 10 of relay K, and wires 41 and 42, back to the other terminal of winding 20. When this circuit contact 3233 opens and contact 27-29,

closes. The opening of contact 3233 interrupts the circuit just traced, and the rudder comes to rest. The closing of contact 2729 completes a pick-up circuit for relay K from winding 20, through wires 34: and 43, contact 2729, wire 44, winding of relay K, and wires 45 and 42 back to winding 20. When relay K picks up, current flows rom winding 20, through wires 34 and 35, a portion of primary 26 of transformer T, wire 46, contact 30-31 of circuit controller X}, wire 47, ft'rontcontact 40 of relay K, and

wires 41 and 42 back to winding 20. The

current now supplied to motor C drives the rudder hack to itsmiddle position. During this return movement contact 32-33 closes, but the circuit controlled by this contact is now open at hack contact 40 of relay The pickup circuit for relay K opens, as soon as the return movement of the rudder starts,

but the relay is subsequently held closed by a stick circuit which passes from winding 20, through wires 34 and d3, Contact 27-28 of circuit controller X, wires 48 and 49, front contact 50 of relay K, wire 51, windin of relay K, and wires 45 and d2 backto win ing 20. When the rudder attains its middle po sition, contact 27-28 opens and oreaksthe stickcircuit for relay 3K. I

The movement of the rudder produced as described above swings the ship to the right I will assume that ture 8.

wagons and if, when the relay K becomes de-energized, the ship has been moved to the course determined by the position or" field structure 1, relay B will be de-energized, and the parts will remain in the positions shown.- It the turning of the ship, caused by the first move ment of the rudder is not enough to bring the setting of the field structure, the cycle of operations described above is repeated until the proper course is established. It the ship turns otl of its course in the opposite direction, the operation of the apparatus is similar to that described above except that the rudder will then be moved in the opposite direction to produce the required course correction. A

It follows that any variation of the ship froma predetermined course will be automatically and instantaneously corrected by the steering apparatus.

It will be observed that the time during which the rudder remains in its deflected position, before returning to the middle position, depends upon the time required for the relay K to pick up. By constructing this r lay with suitable time elementcharacteristics, and by adjusting the stroke through which the rudder moves, by proper design of the circuit controller, the apparatus may be made to produce any reasonable amount of turning in one operation of the rudder. In practice it may be desirable to design the apparatus so that each operation of the rudder makes only a small correction in the course. In this case, a number oi? operations may be necessary to bring the ship on to a new course, but steering will be much more accurate.

By increasing the number of poles in the device A can increase the sensitivity of the apparatus. Referring for example to Fig. 12, I here show the field structure A provided with two pairs of poles. In order that the frequenci s of the current supplied by alternators A and G-shall be the same, armature is driven, through a 2 to 1 reduction gear 2, so as to rotate at one half the. speed of arma- The two armatures are driven as before by motor 19. Relay B is controlled by circuits from armatures 5 and 8 as before. The operation of the device idthe same as explained in connection with Fig. 1 but it should be particularly noted that with two pairs of poles, a variation in the course of the ship of one angular degree will produce a phase dis placement of two electrical degrees between the currents in the windings of relay B. therefore follows that for a given relay B, the sensitivity of the apparatus is increased by increasing the numbers of poles in the device A, because the minimum phase displacementrequired to operate the relay B will then be obtained for a smaller angular variation in the course of the ship.

For purposes of explanation I have here described my invention as applied to apparatus for steering of a ship in a horizontal plane but it should be pointed out that the invention is equally applicable to other movable'bodies and to steering in other planes, as for the purpose of maintaining an aeroplane upon an j even keel. course of the shin into coincidence with the Although I have herein shown and described only one form of electrical controlling apparatus and one modification thereof embodying my invention, it is understood that various changes and modifications may be made therein within the scope of the appended claims without departing from the spirit and scope of my invention.

Having thus described my invention, what I claim is:

1. In combination, a movable body, means for creating a first magnetic'field in a selected direction with respect to said body, two rota able armatures connected together mechani-- cally one interposed in the earths magnetic field and the other in said first magnetic field, and guiding mechanism for said body responsive to the phase relation of the electromotive forces created in said two armatures.

2. In combination, a movable body, means on said body for creating two alternating electromotive forces the phase relation oil which varies in accordance with changes in the course of said body, and steering mechan1 sm "for said body for'automatically maintaining a constant phase relation" between such two electromotive forces by regulating the course of the body.

3. Steering apparatus for a movable body comprising two alternators for supplying two elec'tromotive forces the phase relation pt which varies in accordance with changes in the course of the body, and steering mechanism for said body responsive to the phase relation of the electromotive forces supplied by said two alternators.

4. Steering apparatus for a movable body comprising two alternator-s rotating in synchronism, means for varying the direction of the field of one of said alternators with respect to said body, and the field of the remaining alternator having a constant direc;

tion in space, and steering mechanism' for said body responsive to the phase relation of the electromotive forces created by said alternators. I

5. Steering apparatus for a movable body comprising two armatures rotating in synchronism, one of said armatures creating an alternating electromotive force by linking the earths field, means for linking the remaining armature with a unidirectional magnetic field in a selected direction with respect to said body, and steering mechanism for said body responsive to the phase relation of the electromotive force supplied by said two armatures.

6. ln combination, a movable body, a first loody comprising me 9 @Gfl'llllll'lg currents l alternator comprising aiirst armature rotatable in the earths magnetic field, means for creating a unidirectional magnetic field. in any selected direction with respect to said body a second armature rotatable in such unidirectional field and connected mechanically with said first armature, said armatures thereby delivering alternating currents having a phase relation depending upon the course of the body, and steering mechanism for said body responsive to the phase relation of such currents.

7. Steering apparatus for a movable body comprising means for creating two alternating currents having a phase relation which varies in accordance with the course of the body, a relay responsive to the phase relation of said currents; and steering mechanism for said body controlled by said relay;

8. Steering apparatus for a movable body comprising meansicr creating two alternatingcurrents having a phase relation which varies in accordance with the course of the body, a relay having two windings supplied respectively with said two currents and responsive to the phase relation thereof, and

I steering mechanism "for said body controlled by said relay.

9. Steering apparatus for a movable ioody comprising means for creating two alternating currents having a phase relation which varies in accordance with the course of the body, a relay responsive to the phase of said curren 9 moton means con trolled by said re ay :for opera't g said Inc'- tor in either directioin steering" meclranism l. aid body co by said motor movable 3.9., apparm ring windings plyin one winding H c carrent, l 7) ;@i5fi Yo rector wits tancons steering by said 613101 a a fixed direction v second magnetic one for varying th d in space a seco second field. eno.

. 1. F s rel" position of said field respect 4:

said two ai'inatures to maintain said two nelds in parallel the cod I 13. tearing apparatus on a movable body comprising an alternator having a net tipolar field and a first armature means for varying the position of said field with respect to body, a second armature rotatable the earths magnetic field and mechanically connected with first armature, and steering mesh anism for said body responsive to the phase relation of the currents created in said two armatures. I

14. Steering apparatus on movable body comprising. an alternator having a ninltipolar field and a first armature means for varying the position of said field with resoect to said body, a second armature rotata'ole in the earths magnetic field and mechanically connected with said first armature whereby a comparatively small change in the relative positions of the earths field a said multipolar field in space causes a. "inparatively large change in the phase relation of the currents created in said two arraateres and steer" ing mechanism for said body to such phase relation.

155, Steering apparatus on a movo l comprising an alternator lia'vin field and a first rmature inc-ans relation by varying the course oi.

horizontal component of the terrestrial magnetic field, a magnet fixed to the craft and a device for roducing an electromagnetic force from the eld of said magnet, means to com- 5 bine said electromotive forces whereby to derive a resultant electromotive force Which varies according to the yaw and direction of yaw of the craft, and means operated by said resultant electromotive force to control the 10 helm of the craft.

19. A device as in Claim 18, including means to move said magnet in azimuth with respect to the craft whereby to vary the resultant electromotive force and thereby estab- 15 lish the direction of head to be automatically maintained by the device.

20. An automatic'steering device for seacraft and air-craft comprising a device for producing a first electromotive force from 20 the horizontal component of the terrestrial magnetic field, a magnet fixed to the craft, a device for producing an electromotive force fr m the field of said magnet, means to combine said electromotive forces whereby to produce a resultant electromotive force varying as a function of the yaw angle, and means operated by said resultant electromotive force to move the helm of the craft.

In testimony whereof I aifix my signature.

GEORGE W. BAUGHMAN. 

